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<a href="chatterbox_8inc.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor"># Define a model based on the Autonomy Lab Chatterbox robot</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor"></span><span class="preprocessor"># Author: Richard T Vaughan (rtv), Ash Charles</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor"></span><span class="preprocessor"># $Id: chatterbox.inc,v 1.5 2008-01-15 01:25:42 rtv Exp $</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;include <span class="stringliteral">&quot;irobot.inc&quot;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;include <span class="stringliteral">&quot;hokuyo.inc&quot;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;define cbir sensor</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;(</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  # define the size of each transducer [xsize ysize zsize] in meters</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  size [0.01 0.03 0.01 ] </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  # define the range bounds [min max]</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  range [0 1.5]</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    # define the angular field of view in degrees</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    fov 20</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    # define the number of samples spread over the fov</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  samples 1</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    # define the color that ranges are drawn in the gui</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    color_rgba [ 0 1 0 0.2 ] </div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;)</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;define chatterbox create</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;(</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; joules 100000 # todo</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; joules_capacity 400000 # todo</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; watts 100 # todo</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;# charging connection</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; model</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; (</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    pose [0.100 0.000 -0.090 0.000]</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    take_watts 1000.0 # todo</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    size [0.15 0.1 0.03]</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    color <span class="stringliteral">&quot;yellow&quot;</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    obstacle_return 0</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; )</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; model( </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        block( points 6  </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;               point[0] [-3 -1.5 ]</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;               point[1] [-3 0.5 ]</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;               point[2] [-2 1.5 ]</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;               point[3] [+2 1.5 ]</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;               point[4] [+3 0.5 ]</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;               point[5] [+3 -1.5 ]</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;               z [0 0.05]</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                             )</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        pose [-0.03 0 0 90] </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        size [0.25 0.20 0.05 ] </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        color <span class="stringliteral">&quot;gray&quot;</span> </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;   )</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; ranger</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; (  </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  cbir( pose [ 0.050  0.000  0 0]   ) # front forward</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  cbir( pose [ 0.050  0.050  0 30]  ) # front left side </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  cbir( pose [ 0.000  0.050  0 90]  ) # left side</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  cbir( pose [-0.050  0.000 0 180]  ) # back backwards</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  cbir( pose [ 0.000 -0.050 0 -90]  ) # right side</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  cbir( pose [ 0.050 -0.050 0 -30]  ) # front right side</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; )</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; fiducial</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; (</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    pose [0.040 0.000 -0.005 0.000]</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    range_min 0.0</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    range_max 2.5</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    range_max_id 2.5    </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    fov 60 </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    watts 10 # todo</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  )</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; )</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;define laserchatterbox chatterbox</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;(</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; hokuyolaser()</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;) </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="preprocessor"># Desc: Charging station to work with the chatterbox model</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="preprocessor"></span><span class="preprocessor"># Author: Ash Charles</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="preprocessor"></span><span class="preprocessor"># Date: 26 Febuary 2009</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;define charger model</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;(  </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  size [ 0.040 0.200 0.100 ]</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  color <span class="stringliteral">&quot;gray70&quot;</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  # base pad</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  model(</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    color <span class="stringliteral">&quot;gray50&quot;</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    size [0.10 0.20 0.001]</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    pose [-0.070 0 -0.1 0]</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    obstacle_return 0</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  )</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  # IR beam blocker</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;#  model(</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;#   color <span class="stringliteral">&quot;gray30&quot;</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;#    size [ 0.005 0.014 0.010]</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;#    pose [-0.020 0.000 -0.015]</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;#  )</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  # IR beacons: Red=Port=Left; Right=Starboard=Green; Purple=Omni</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  model(</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    color <span class="stringliteral">&quot;red&quot;</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    size [0.010 0.010 0.010]</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    pose [-0.016 0.010 -0.015 -10 ]</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;#   fiducial_return 4</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    )</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  model(</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    color &quot;green&quot;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    size [0.010 0.010 0.010]</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    pose [-0.016 -0.010 -0.015 10 ]</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="preprocessor">#   fiducial_return 5</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="preprocessor"></span>    )</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  model(</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    color <span class="stringliteral">&quot;purple&quot;</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    size [0.010 0.010 0.010]</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    pose [-0.020 0.000 -0.015 0.000]</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    fiducial_return 6</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    )</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="preprocessor"># Positive Terminal of Charging Block </span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="preprocessor"></span>  model( </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    pose [ -0.040 0.000 -0.100 0 ]</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    color <span class="stringliteral">&quot;yellow&quot;</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    size [ 0.020 0.100 0.005 ]</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    joules -1  # provides infinite energy</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    give_watts 1000 </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    obstacle_return 0</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;   )</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="preprocessor"># Negative terminal of the charging block</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#  model( </span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#    pose [ -0.040 -0.040 -0.100 0 ]</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#    color &quot;yellow&quot;</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#    size [ 0.020 0.020 0.005 ]</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#   )</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="preprocessor"></span>)</div>
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